As a consequence, the orienteering problem includes elements of optimal navigation through inhomogeneous media as minimal time control problems, within the classic Traveling Salesmen problems [1]}, [2]} and Knapsack problems [3]}. The mathematical literature about the problem includes mainly combinatorial optimization approaches (for a survey about these contributions see [4]}, or the more recent [5]}). Generally, the problem is modeled on a graph, not considering its navigation component.
